将turtlebot3 burger的.urdf.xacro文件转化为.urdf文件并启动rviz可视化显示的方法及纠错

本文叙述如何将turtlebot3 burger的.urdf.xacro转化为.urdf文件，为进一步使用turtlebot3 burger模型进行仿真做准备。

1. 创建工作空间

mkdir catkin_ws_turtlebot3

cd catkin_ws_turtlebot3
mkdir src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd ~/catkin_ws
rosdep install --from-paths src -i -y
catkin_make

2. “.urdf.xacro”文件转为“.urdf”文件

turtlebot3的描述文件位于turtlebot3_description包中，turtlebot3_burger.urdf.xacro文件的路径如下：
/home/xxx/catkin_ws_turtlebot3/src/turtlebot3/turtlebot3_description/urdf

执行如下命令进行文件转化：

cd ~/catkin_ws
catkin_make
source devel/setup.bash

cd catkin_ws_turtlebot3/src